ロボット経路計画における幾何・位相的データ駆動手法
Some geometric and topological data-driven methods in robot motion path planning
ロボットの動作経路計画を幾何・位相の観点から整理し、トポロジカルデータ解析や離散モース理論を用いたデータ駆動型手法の研究動向をサーベイした論文。
著者: Boris Goldfarb
分類: math.AT, cs.RO
原文アブストラクト
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development. Many questions that arise, such as existence, optimality, and diversity of motion paths in the configuration space that describes feasible robot configurations, are of topological nature. The recent advances in topological data analysis and related metric geometry, topology and combinatorics have provided new tools to address these engineering tasks. We will survey some questions, issues, recent work and promising directions in data-driven geometric and topological methods with some emphasis on the use of discrete Morse theory.